#include "CloudViewer.h"

CloudViewer::CloudViewer(QWidget *parent)
	: QMainWindow(parent) {
	ui.setupUi(this);

	/***** Slots connection of QMenuBar and QToolBar *****/
	// File (connect)
	QObject::connect(ui.openAction, &QAction::triggered, this, &CloudViewer::open);
	QObject::connect(ui.addAction, &QAction::triggered, this, &CloudViewer::add);
	QObject::connect(ui.clearAction, &QAction::triggered, this, &CloudViewer::clear);

	ui.saveAction->setData(QVariant(false));       // isSaveBinary = false
	ui.saveBinaryAction->setData(QVariant(true));  // isSaveBinary = true
	connect(ui.saveAction, SIGNAL(triggered()), this, SLOT(save()));
	connect(ui.saveBinaryAction, SIGNAL(triggered()), this, SLOT(save()));
	QObject::connect(ui.exitAction, &QAction::triggered, this, &CloudViewer::exit);
	// Display (connect)
	QObject::connect(ui.pointcolorAction, &QAction::triggered, this, &CloudViewer::pointcolorChanged);
	QObject::connect(ui.bgcolorAction, &QAction::triggered, this, &CloudViewer::bgcolorChanged);
	QObject::connect(ui.mainviewAction, &QAction::triggered, this, &CloudViewer::mainview);
	QObject::connect(ui.leftviewAction, &QAction::triggered, this, &CloudViewer::leftview);
	QObject::connect(ui.topviewAction, &QAction::triggered, this, &CloudViewer::topview);
	// Generate (connect)
	QObject::connect(ui.cubeAction, &QAction::triggered, this, &CloudViewer::cube);
	QObject::connect(ui.sphereAction, &QAction::triggered, this, &CloudViewer::createSphere);
	QObject::connect(ui.cylinderAction, &QAction::triggered, this, &CloudViewer::createCylinder);
	// Process (connect)
	QObject::connect(ui.meshsurfaceAction, &QAction::triggered, this, &CloudViewer::convertSurface);
	QObject::connect(ui.wireframeAction, &QAction::triggered, this, &CloudViewer::convertWireframe);
	// Option (connect)
	ui.windowsThemeAction->setData(QVariant(CLOUDVIEWER_THEME_WINDOWS));
	ui.darculaThemeAction->setData(QVariant(CLOUDVIEWER_THEME_DARCULA));
	ui.englishAction->setData(QVariant(CLOUDVIEWER_LANG_ENGLISH));
	ui.chineseAction->setData(QVariant(CLOUDVIEWER_LANG_CHINESE));
	connect(ui.windowsThemeAction, SIGNAL(triggered()), this, SLOT(changeTheme()));
	connect(ui.darculaThemeAction, SIGNAL(triggered()), this, SLOT(changeTheme()));
	connect(ui.englishAction, SIGNAL(triggered()), this, SLOT(changeLanguage()));
	connect(ui.chineseAction, SIGNAL(triggered()), this, SLOT(changeLanguage()));
	// About (connect)
	QObject::connect(ui.aboutAction, &QAction::triggered, this, &CloudViewer::about);
	QObject::connect(ui.helpAction, &QAction::triggered, this, &CloudViewer::help);

	/***** Slots connection of RGB widget *****/
	// Random color (connect)
	connect(ui.colorBtn, SIGNAL(clicked()), this, SLOT(colorBtnPressed()));
	// Connection between RGB slider and RGB value (connect)
	connect(ui.rSlider, SIGNAL(valueChanged(int)), this, SLOT(rSliderChanged(int)));
	connect(ui.gSlider, SIGNAL(valueChanged(int)), this, SLOT(gSliderChanged(int)));
	connect(ui.bSlider, SIGNAL(valueChanged(int)), this, SLOT(bSliderChanged(int)));
	// RGB slider released (connect)
	connect(ui.rSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));
	connect(ui.gSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));
	connect(ui.bSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));
	// Change size of cloud (connect)
	connect(ui.pSlider, SIGNAL(valueChanged(int)), this, SLOT(pSliderChanged(int)));
	connect(ui.pSlider, SIGNAL(sliderReleased()), this, SLOT(psliderReleased()));
	// Checkbox for coordinate and background color (connect)
	connect(ui.cooCbx, SIGNAL(stateChanged(int)), this, SLOT(cooCbxChecked(int)));
	connect(ui.bgcCbx, SIGNAL(stateChanged(int)), this, SLOT(bgcCbxChecked(int)));

	/***** Slots connection of dataTree(QTreeWidget) widget *****/
	// Item in dataTree is left-clicked (connect)
	connect(ui.dataTree, SIGNAL(itemClicked(QTreeWidgetItem*, int)), this, SLOT(itemSelected(QTreeWidgetItem*, int)));
	// Item in dataTree is right-clicked
	connect(ui.dataTree, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(popMenu(const QPoint&)));

	connect(ui.consoleTable, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(popMenuInConsole(const QPoint&)));
	// Initialization
	initial();
}

CloudViewer::~CloudViewer() {

}

void CloudViewer::doOpen(const QStringList& filePathList) {
	// Open point cloud file one by one
	for (int i = 0; i != filePathList.size(); i++) {
		timeStart(); // time start
		mycloud.cloud.reset(new PointCloudT); // Reset cloud
		QFileInfo fileInfo(filePathList[i]);
		std::string filePath = fromQString(fileInfo.filePath());
		std::string fileName = fromQString(fileInfo.fileName());
		
		// begin loading
		ui.statusBar->showMessage(
			fileInfo.fileName() + ": " + QString::number(i) + "/" + QString::number(filePathList.size())
			+ " point cloud loading..."
		);

		mycloud = fileIO.load(fileInfo);
		if (!mycloud.isValid) {
			// TODO: deal with the error, print error info in console?
			debug("invalid cloud.");
			continue;
		}
		mycloud.viewer = viewer;
		mycloud_vec.push_back(mycloud);

		timeCostSecond = timeOff(); // time off

		consoleLog(
			"Open",
			toQString(mycloud.fileName),
			toQString(mycloud.filePath),
			"Time cost: " + timeCostSecond + " s, Points: " + QString::number(mycloud.cloud->points.size())
		);

		// update tree widget
		QTreeWidgetItem *cloudName = new QTreeWidgetItem(QStringList()
			<< toQString(mycloud.fileName));
		cloudName->setIcon(0, QIcon(":/Resources/images/icon.png"));
		ui.dataTree->addTopLevelItem(cloudName);

		total_points += mycloud.cloud->points.size();
	}
	ui.statusBar->showMessage("");
	showPointcloudAdd();
	setPropertyTable();
}

// Open point cloud
void CloudViewer::open() {
	QStringList filePathList = QFileDialog::getOpenFileNames(
		this,
		tr("Open point cloud file"),
		toQString(mycloud.fileDir),
		toQString(fileIO.getInputFormatsStr())
	);
	if (filePathList.isEmpty()) return;

	// Clear cache
	// TODO: abstract a function
	mycloud_vec.clear();
	total_points = 0;
	ui.dataTree->clear();
	viewer->removeAllPointClouds();

	doOpen(filePathList);
}

// Add Point Cloud
void CloudViewer::add() {
	QStringList filePathList = QFileDialog::getOpenFileNames(
		this,
		tr("Add point cloud file"),
		toQString(mycloud.fileDir),
		toQString(fileIO.getInputFormatsStr())
	);
	if (filePathList.isEmpty()) return;

	doOpen(filePathList);
}

// Clear all point clouds
void CloudViewer::clear() {
	mycloud_vec.clear();  //从点云容器中移除所有点云
	viewer->removeAllPointClouds();  //从viewer中移除所有点云
	viewer->removeAllShapes(); //这个remove更彻底
	ui.dataTree->clear();  //将dataTree清空

	ui.propertyTable->clear();  //清空属性窗口propertyTable
	QStringList header;
	header << "Property" << "Value";
	ui.propertyTable->setHorizontalHeaderLabels(header);

	//输出窗口
	consoleLog("Clear", "All point clouds", "", "");

	setWindowTitle("CloudViewer");  //更新窗口标题
	showPointcloud();  //更新显示
}

// Save point cloud
void CloudViewer::save() {
	if (!mycloud.isValid) {
		QMessageBox::critical(this, tr("Saving file error"),
			tr("There is no point cloud to save"));
		return;
	}

	// get binary flag from sender()
	QAction *action = qobject_cast<QAction *>(sender());
	QVariant v = action->data();
	bool isSaveBinary = (bool)v.value<bool>();

	QString selectedFilter = toQString(fileIO.outputFiltersMap.at(mycloud.fileSuffix));
	QString saveFilePath = QFileDialog::getSaveFileName(
		this,                                    // parent
		toQString("Save point cloud" + string(isSaveBinary ? " (binary)": "")), // caption
		toQString(mycloud.filePath),             // dir
		toQString(fileIO.getOutputFormatsStr()), // filter
		&selectedFilter                          // selected filter
	);
	if (saveFilePath.isEmpty()) return;

	QFileInfo fileInfo(saveFilePath);
	QString saveFileName = fileInfo.fileName();
	string saveFilePathStd = fromQString(saveFilePath);
	string saveFileNameStd = fromQString(saveFileName);

	if (mycloud_vec.size() > 1) {
		savemulti(fileInfo, isSaveBinary);
		return;
	}

	bool saveStatus = fileIO.save(mycloud, fileInfo, isSaveBinary);
	if (!saveStatus) {
		QMessageBox::critical(this, tr("Saving file error"),
			tr("We can not save the file"));
		return;
	}

	consoleLog("Save", saveFileName, saveFilePath, "Single save");

	setWindowTitle(saveFilePath + " - CloudViewer");
	QMessageBox::information(this, tr("save point cloud file"),
		toQString("Save " + saveFileNameStd + " successfully!"));
}

// Save multi point cloud
void CloudViewer::savemulti(const QFileInfo& fileInfo, bool isSaveBinary) {
	string subname = fromQString(fileInfo.fileName());
	QString saveFilePath = fileInfo.filePath();
	PointCloudT::Ptr multi_cloud;
	multi_cloud.reset(new PointCloudT);
	multi_cloud->height = 1;
	int sum = 0;
	for (auto c : mycloud_vec) {
		sum += c.cloud->points.size();
	}
	multi_cloud->width = sum;
	multi_cloud->resize(multi_cloud->height * multi_cloud->width);
	int k = 0;
	for (int i = 0; i != mycloud_vec.size(); ++i) {
		// 注意cloudvec[i]->points.size()和cloudvec[i]->size()的区别
		for (int j = 0; j != mycloud_vec[i].cloud->points.size(); ++j) {
			multi_cloud->points[k].x = mycloud_vec[i].cloud->points[j].x;
			multi_cloud->points[k].y = mycloud_vec[i].cloud->points[j].y;
			multi_cloud->points[k].z = mycloud_vec[i].cloud->points[j].z;
			multi_cloud->points[k].r = mycloud_vec[i].cloud->points[j].r;
			multi_cloud->points[k].g = mycloud_vec[i].cloud->points[j].g;
			multi_cloud->points[k].b = mycloud_vec[i].cloud->points[j].b;
			k++;
		}
	}
	
	MyCloud multiMyCloud;
	multiMyCloud.cloud = multi_cloud;
	multiMyCloud.isValid = true;

	// save multi_cloud
	bool saveStatus = fileIO.save(multiMyCloud, fileInfo, isSaveBinary);
	if (!saveStatus) {
		QMessageBox::critical(this, tr("Saving file error"),
			tr("We can not save the file"));
		return;
	}

	if (isSaveBinary) {
		consoleLog("Save as binary", QString::fromLocal8Bit(subname.c_str()), saveFilePath, "Multi save (binary)");
	} else {
		consoleLog("Save", QString::fromLocal8Bit(subname.c_str()), saveFilePath, "Multi save");
	}
	
	// 将保存后的 multi_cloud 设置为当前 mycloud,以便保存之后直接进行操作
	mycloud.cloud = multi_cloud;
	mycloud.filePath = fromQString(saveFilePath);
	mycloud.fileName = subname;

	setWindowTitle(saveFilePath + " - CloudViewer");
	QMessageBox::information(this, tr("save point cloud file"), toQString("Save " + subname + " successfully!"));
}

//退出程序
void CloudViewer::exit() {
	this->close();
}

// Generate cube
void CloudViewer::cube() {
	mycloud.cloud.reset(new PointCloudT);
	total_points = 0;
	ui.dataTree->clear();  //清空资源管理器的item
	viewer->removeAllPointClouds();  //从viewer中移除所有点云
	mycloud_vec.clear();  //清空点云容器

	mycloud.cloud->width = 50000;         // 设置点云宽
	mycloud.cloud->height = 1;            // 设置点云高，高为1，说明为无组织点云
	mycloud.cloud->is_dense = false;
	mycloud.cloud->resize(mycloud.cloud->width * mycloud.cloud->height);     // 重置点云大小
	for (size_t i = 0; i != mycloud.cloud->size(); ++i)
	{
		mycloud.cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
		mycloud.cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
		mycloud.cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
		mycloud.cloud->points[i].r = red;
		mycloud.cloud->points[i].g = green;
		mycloud.cloud->points[i].b = blue;
	}
	//设置资源管理器
	QTreeWidgetItem *cloudName = new QTreeWidgetItem(QStringList() << QString::fromLocal8Bit("cube"));
	cloudName->setIcon(0, QIcon(":/Resources/images/icon.png"));
	ui.dataTree->addTopLevelItem(cloudName);

	// 输出窗口
	consoleLog("Generate cube", "cube", "cube", "");

	mycloud_vec.push_back(mycloud);
	showPointcloudAdd();
}

//初始化
void CloudViewer::initial() {
	//界面初始化
	setWindowIcon(QIcon(tr(":/Resources/images/icon.png")));
	setWindowTitle(tr("CloudViewer"));

	//点云初始化
	mycloud.cloud.reset(new PointCloudT);
	mycloud.cloud->resize(1);
	viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
	//viewer->addPointCloud(cloud, "cloud");

	ui.screen->SetRenderWindow(viewer->getRenderWindow());
	viewer->setupInteractor(ui.screen->GetInteractor(), ui.screen->GetRenderWindow());
	ui.screen->update();

	ui.propertyTable->setSelectionMode(QAbstractItemView::NoSelection); // 禁止点击属性管理器的 item
	ui.consoleTable->setSelectionMode(QAbstractItemView::NoSelection);  // 禁止点击输出窗口的 item
	ui.dataTree->setSelectionMode(QAbstractItemView::ExtendedSelection); // 允许 dataTree 进行多选

	// 设置默认主题
	QString qss = darcula_qss;
	qApp->setStyleSheet(qss);

	setPropertyTable();
	setConsoleTable();

	// 输出窗口
	consoleLog("Software start", "CloudViewer", "Welcome to use CloudViewer", "Nightn");


	// 设置背景颜色为 dark
	viewer->setBackgroundColor(30 / 255.0, 30 / 255.0, 30 / 255.0);

}

//显示点云，不重置相机角度
void CloudViewer::showPointcloud() {
	for (int i = 0; i != mycloud_vec.size(); i++)
	{
		viewer->updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);
	}
	//viewer->resetCamera();
	ui.screen->update();
}

//添加点云到viewer,并显示点云
void CloudViewer::showPointcloudAdd() {
	for (int i = 0; i != mycloud_vec.size(); i++) {
		viewer->addPointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);
		viewer->updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);
	}
	viewer->resetCamera();
	ui.screen->update();
}

void CloudViewer::setCloudColor(unsigned int r, unsigned int g, unsigned int b) {
	// Set the new color
	for (size_t i = 0; i < mycloud.cloud->size(); i++) {
		mycloud.cloud->points[i].r = r;
		mycloud.cloud->points[i].g = g;
		mycloud.cloud->points[i].b = b;
		mycloud.cloud->points[i].a = 255;
	}
}

//关于
void CloudViewer::about() {
	AboutWin *aboutwin = new AboutWin(this);
	aboutwin->setModal(true);
	aboutwin->show();
	consoleLog("About", "Nightn", "http://nightn.com", "Welcome to my blog!");
}

//帮助
void CloudViewer::help() {
	QDesktopServices::openUrl(QUrl(QLatin1String("http://nightn.com/cloudviewer")));
	consoleLog("Help", "Cloudviewer help", "http://nightn.com/cloudviewer", "");
}

//绘制基本图形
void CloudViewer::createSphere() {
	mycloud.cloud.reset(new PointCloudT);
	ui.dataTree->clear();  //清空资源管理器的item
	viewer->removeAllShapes();
	mycloud_vec.clear();  //清空点云容器

	pcl::PointXYZ p;
	p.x = 0; p.y = 0; p.z = 0;
	viewer->addSphere(p, 100, "sphere1");

	viewer->resetCamera();
	ui.screen->update();

	// 输出窗口
	consoleLog("Create sphere", "Sphere", "", "Succeeded");
}

void CloudViewer::createCylinder() {
	mycloud.cloud.reset(new PointCloudT);
	ui.dataTree->clear();  //清空资源管理器的item
	viewer->removeAllShapes();
	mycloud_vec.clear();  //清空点云容器

	viewer->addCylinder(*(new pcl::ModelCoefficients()), "cylinder");

	viewer->resetCamera();
	ui.screen->update();

	// 输出窗口
	consoleLog("Create cylinder", "Cylinder", "", "Failed");

}

// Change theme: Windows/Darcula
void CloudViewer::changeTheme() {
	QAction *action = qobject_cast<QAction *>(sender());
	QVariant v = action->data();
	int theme = (int)v.value<int>();

	QColor colorLight(241, 241, 241, 255);
	QColor colorDark(0, 0, 0, 255);
	QString qss;

	switch (theme) {
		case CLOUDVIEWER_THEME_WINDOWS: {
			qss = windows_qss;
			for (int i = 0; i != mycloud_vec.size(); i++){
				if (ui.dataTree->topLevelItem(i)->textColor(0) == colorLight){
					ui.dataTree->topLevelItem(i)->setTextColor(0, colorDark);
				}
			}
			theme_id = 0;
			consoleLog("Change theme", "Windows theme", "", "");
			break;
		}
		case CLOUDVIEWER_THEME_DARCULA: {
			qss = darcula_qss;
			for (int i = 0; i != mycloud_vec.size(); i++){
				if (ui.dataTree->topLevelItem(i)->textColor(0) == colorDark){
					ui.dataTree->topLevelItem(i)->setTextColor(0, colorLight);
				}
			}
			consoleLog("Change theme", "Darcula theme", "", "");
			theme_id = 1;
			break;
		}
	}
	qApp->setStyleSheet(qss);
}

// Change language: English/Chinese
void CloudViewer::changeLanguage() {
	QAction *action = qobject_cast<QAction *>(sender());
	QVariant v = action->data();
	int language = (int)v.value<int>();

	switch (language) {
		case CLOUDVIEWER_LANG_ENGLISH: {
			consoleLog("Change language", "English", "", "");
			break;
		}
		case CLOUDVIEWER_LANG_CHINESE: {
			consoleLog("Change language", "Chinese", "Doesn't support Chinese temporarily", "");
			break;
		}
	}
}


/*********************************************/
/*****************界面槽函数*****************/
/********************************************/
void CloudViewer::colorBtnPressed() {
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	int selected_item_count = ui.dataTree->selectedItems().size();
	// 如果未选中任何点云，则对视图窗口中的所有点云进行着色
	if (selected_item_count == 0){
		for (int i = 0; i != mycloud_vec.size(); i++){
			for (int j = 0; j != mycloud_vec[i].cloud->points.size(); j++){
				mycloud_vec[i].cloud->points[j].r = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
				mycloud_vec[i].cloud->points[j].g = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
				mycloud_vec[i].cloud->points[j].b = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
			}
		}

		// 输出窗口
		consoleLog("Random color", "All point clous", "", "");

	}
	else{
		for (int i = 0; i != selected_item_count; i++){
			int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
			for (int j = 0; j != mycloud_vec[cloud_id].cloud->size(); j++){
				mycloud_vec[cloud_id].cloud->points[j].r = red;
				mycloud_vec[cloud_id].cloud->points[j].g = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
				mycloud_vec[cloud_id].cloud->points[j].b = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
			}
		}

		// 输出窗口
		consoleLog("Random color", "Point clouds selected", "", "");
	}
	showPointcloud();
}

void CloudViewer::RGBsliderReleased() {
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	int selected_item_count = ui.dataTree->selectedItems().size();
	// 如果未选中任何点云，则对视图窗口中的所有点云进行着色
	if (selected_item_count == 0) {
		for (int i = 0; i != mycloud_vec.size(); i++) {
			mycloud_vec[i].setPointColor(red, green, blue);
		}

		// 输出窗口
		consoleLog("Change cloud color", "All point clouds", QString::number(red) + " " + QString::number(green) + " " + QString::number(blue), "");
	}
	else{
		for (int i = 0; i != selected_item_count; i++) {
			int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
			mycloud_vec[cloud_id].setPointColor(red, green, blue);
		}
		// 输出窗口
		consoleLog("Change cloud color", "Point clouds selected", QString::number(red) + " " + QString::number(green) + " " + QString::number(blue), "");
	}
	showPointcloud();
}

//设置所有点云的尺寸
void CloudViewer::psliderReleased() {
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	int selected_item_count = ui.dataTree->selectedItems().size();
	if (selected_item_count == 0){
		for (int i = 0; i != mycloud_vec.size(); i++){
			viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
				p, mycloud_vec[i].cloudId);
		}
		// 输出窗口
		consoleLog("Change cloud size", "All point clouds", "Size: " + QString::number(p), "");
	}
	else{
		for (int i = 0; i != selected_item_count; i++){
			int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
			viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
				p, mycloud_vec[i].cloudId);
		}
		// 输出窗口
		consoleLog("Change cloud size", "Point clouds selected", "Size: " + QString::number(p), "");
	}
	ui.screen->update();
}

void CloudViewer::pSliderChanged(int value) {
	p = value;
	ui.sizeLCD->display(value);

}

void CloudViewer::rSliderChanged(int value) {
	red = value;
	ui.rLCD->display(value);
}

void CloudViewer::gSliderChanged(int value) {
	green = value;
	ui.gLCD->display(value);
}

void CloudViewer::bSliderChanged(int value) {
	blue = value;
	ui.bLCD->display(value);
}

void CloudViewer::cooCbxChecked(int value) {
	switch (value) {
		case 0: {
			viewer->removeCoordinateSystem();
			consoleLog("Remove coordinate system", "Remove", "", "");
			break;
		}
		case 2: {
			viewer->addCoordinateSystem();
			consoleLog("Add coordinate system", "Add", "", "");
			break;
		}
	}
	ui.screen->update();
}

void CloudViewer::bgcCbxChecked(int value) {
	switch (value) {
		case 0: {
			viewer->setBackgroundColor(30 / 255.0, 30 / 255.0, 30 / 255.0);
			consoleLog("Change bg color", "Background", "30 30 30", "");
			break;
		}
		case 2: {
			//！注意：setBackgroundColor()接收的是0-1的double型参数
			viewer->setBackgroundColor(240 / 255.0, 240 / 255.0, 240 / 255.0);
			consoleLog("Change bg color", "Background", "240 240 240", "");
			break;
		}
	}
	ui.screen->update();
}

// 通过颜色对话框改变点云颜色
void CloudViewer::pointcolorChanged() {
	QColor color = QColorDialog::getColor(Qt::white, this, "Select color for point cloud");

	if (color.isValid()) {
		//QAction* action = dynamic_cast<QAction*>(sender());
		//if (action != ui.pointcolorAction) //改变颜色的信号来自于 dataTree
		QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
		int selected_item_count = ui.dataTree->selectedItems().size();
		if (selected_item_count == 0) {
			for (int i = 0; i != mycloud_vec.size(); ++i) {
				mycloud_vec[i].setPointColor(color.red(), color.green(), color.blue());
			}
			// 输出窗口
			consoleLog("Change cloud color", "All point clouds", QString::number(color.red()) + " " + QString::number(color.green()) + " " + QString::number(color.blue()), "");
		}
		else {
			for (int i = 0; i != selected_item_count; i++) {
				int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
				mycloud_vec[cloud_id].setPointColor(color.red(), color.green(), color.blue());
			}
			// 输出窗口
			consoleLog("Change cloud color", "Point clouds selected", QString::number(color.red()) + " " + QString::number(color.green()) + " " + QString::number(color.blue()), "");
		}
		//颜色的改变同步至RGB停靠窗口
		ui.rSlider->setValue(color.red());
		ui.gSlider->setValue(color.green());
		ui.bSlider->setValue(color.blue());

		showPointcloud();
	}
}

//通过颜色对话框改变背景颜色
void CloudViewer::bgcolorChanged() {
	QColor color = QColorDialog::getColor(Qt::white, this,
		"Select color for point cloud");
	if (color.isValid()) {
		viewer->setBackgroundColor(color.red() / 255.0,
			color.green() / 255.0, color.blue() / 255.0);
		// 输出窗口
		consoleLog("Change bg color", "Background", QString::number(color.red()) + " " + QString::number(color.green()) + " " + QString::number(color.blue()), "");
		showPointcloud();
	}
}

//三视图
void CloudViewer::mainview() {
	viewer->setCameraPosition(0, -1, 0, 0.5, 0.5, 0.5, 0, 0, 1);
	ui.screen->update();
}

void CloudViewer::leftview() {
	viewer->setCameraPosition(-1, 0, 0, 0, 0, 0, 0, 0, 1);
	ui.screen->update();
}

void CloudViewer::topview() {
	viewer->setCameraPosition(0, 0, 1, 0, 0, 0, 0, 1, 0);
	ui.screen->update();
}

// 设置属性管理窗口
void CloudViewer::setPropertyTable() {
	QStringList header;
	header << "Property" << "Value";
	ui.propertyTable->setHorizontalHeaderLabels(header);
	ui.propertyTable->setItem(0, 0, new QTableWidgetItem("Clouds"));
	ui.propertyTable->setItem(0, 1, new QTableWidgetItem(QString::number(mycloud_vec.size())));

	ui.propertyTable->setItem(1, 0, new QTableWidgetItem("Points"));
	ui.propertyTable->setItem(1, 1, new QTableWidgetItem(""));

	ui.propertyTable->setItem(2, 0, new QTableWidgetItem("Faces"));
	ui.propertyTable->setItem(2, 1, new QTableWidgetItem(""));

	ui.propertyTable->setItem(3, 0, new QTableWidgetItem("Total points"));
	ui.propertyTable->setItem(3, 1, new QTableWidgetItem(QString::number(total_points)));

	ui.propertyTable->setItem(4, 0, new QTableWidgetItem("RGB"));
	ui.propertyTable->setItem(4, 1, new QTableWidgetItem(""));

}

void CloudViewer::setConsoleTable() {
	// 设置输出窗口
	QStringList header2;
	header2 << "Time" << "Operation" << "Operation object" << "Details" << "Note";
	ui.consoleTable->setHorizontalHeaderLabels(header2);
	ui.consoleTable->setColumnWidth(0, 150);
	ui.consoleTable->setColumnWidth(1, 200);
	ui.consoleTable->setColumnWidth(2, 200);
	ui.consoleTable->setColumnWidth(3, 300);

	//ui.consoleTable->setEditTriggers(QAbstractItemView::NoEditTriggers); //设置不可编辑
	ui.consoleTable->verticalHeader()->setDefaultSectionSize(22); //设置行距

	ui.consoleTable->setContextMenuPolicy(Qt::CustomContextMenu);

}

void CloudViewer::consoleLog(QString operation, QString subname, QString filename, QString note) {
	if (enable_console == false) {
		return;
	}
	int rows = ui.consoleTable->rowCount();
	ui.consoleTable->setRowCount(++rows);
	QDateTime time = QDateTime::currentDateTime();//获取系统现在的时间
	QString time_str = time.toString("MM-dd hh:mm:ss"); //设置显示格式
	ui.consoleTable->setItem(rows - 1, 0, new QTableWidgetItem(time_str));
	ui.consoleTable->setItem(rows - 1, 1, new QTableWidgetItem(operation));
	ui.consoleTable->setItem(rows - 1, 2, new QTableWidgetItem(subname));
	ui.consoleTable->setItem(rows - 1, 3, new QTableWidgetItem(filename));
	ui.consoleTable->setItem(rows - 1, 4, new QTableWidgetItem(note));

	ui.consoleTable->scrollToBottom(); // 滑动自动滚到最底部
}

//QTreeWidget的item的点击相应函数
void CloudViewer::itemSelected(QTreeWidgetItem* item, int count) {
	count = ui.dataTree->indexOfTopLevelItem(item);  //获取item的行号

	for (int i = 0; i != mycloud_vec.size(); i++)
	{
		viewer->updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);
		viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, mycloud_vec[i].cloudId);
	}

	//提取当前点云的RGB,点云数量等信息
	int cloud_size = mycloud_vec[count].cloud->points.size();
	unsigned int cloud_r = mycloud_vec[count].cloud->points[0].r;
	unsigned int cloud_g = mycloud_vec[count].cloud->points[0].g;
	unsigned int cloud_b = mycloud_vec[count].cloud->points[0].b;
	bool multi_color = true;
	if (mycloud_vec[count].cloud->points.begin()->r == (mycloud_vec[count].cloud->points.end() - 1)->r) //判断点云单色多色的条件（不是很严谨）
		multi_color = false;

	ui.propertyTable->setItem(0, 1, new QTableWidgetItem(QString::number(mycloud_vec.size())));
	ui.propertyTable->setItem(1, 1, new QTableWidgetItem(QString::number(cloud_size)));
	int faces = mycloud_vec[count].meshId.size() != 0 ? mycloud_vec[count].mesh->polygons.size() : 0;
	ui.propertyTable->setItem(2, 1, new QTableWidgetItem(QString::number(faces)));
	ui.propertyTable->setItem(3, 1, new QTableWidgetItem(QString::number(total_points)));
	ui.propertyTable->setItem(4, 1, new QTableWidgetItem(multi_color ? "Multi Color" : (QString::number(cloud_r) + " " + QString::number(cloud_g) + " " + QString::number(cloud_b))));

	//选中item所对应的点云尺寸变大
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	int selected_item_count = ui.dataTree->selectedItems().size();
	for (int i = 0; i != selected_item_count; i++){
		int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
		viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
			2, mycloud_vec[i].cloudId);
	}
	//mycloud = mycloud_vec[count];
	ui.screen->update();
}

// consoleTable 右击响应事件
void CloudViewer::popMenuInConsole(const QPoint&) {
	QAction clearConsoleAction("Clear console", this);
	QAction enableConsoleAction("Enable console", this);
	QAction disableConsoleAction("Disable console", this);

	connect(&clearConsoleAction, &QAction::triggered, this, &CloudViewer::clearConsole);
	connect(&enableConsoleAction, &QAction::triggered, this, &CloudViewer::enableConsole);
	connect(&disableConsoleAction, &QAction::triggered, this, &CloudViewer::disableConsole);

	QPoint pos;
	QMenu menu(ui.dataTree);
	menu.addAction(&clearConsoleAction);
	menu.addAction(&enableConsoleAction);
	menu.addAction(&disableConsoleAction);

	if (enable_console == true){
		menu.actions()[1]->setVisible(false);
		menu.actions()[2]->setVisible(true);
	}
	else{
		menu.actions()[1]->setVisible(true);
		menu.actions()[2]->setVisible(false);
	}

	menu.exec(QCursor::pos()); //在当前鼠标位置显示
}

// 清空 consoleTable
void CloudViewer::clearConsole() {
	ui.consoleTable->clearContents();
	ui.consoleTable->setRowCount(0);
}

// 允许使用 consoleTable
void CloudViewer::enableConsole() {
	enable_console = true;
}

// 禁用 consoleTable
void CloudViewer::disableConsole() {
	clearConsole();
	enable_console = false;

}

//QTreeWidget的item的右击响应函数
void CloudViewer::popMenu(const QPoint&) {
	QTreeWidgetItem* curItem = ui.dataTree->currentItem(); //获取当前被点击的节点
	if (curItem == NULL)return;           //这种情况是右键的位置不在treeItem的范围内，即在空白位置右击
	QString name = curItem->text(0);
	int id = ui.dataTree->indexOfTopLevelItem(curItem);
	MyCloud& myCloud = mycloud_vec[id];

	QAction hideItemAction("Hide", this);
	QAction showItemAction("Show", this);
	QAction deleteItemAction("Delete", this);
	QAction changeColorAction("Change color", this);
	// show mode
	QAction pointModeAction("Set point mode", this);
	QAction meshModeAction("Set mesh mode", this);
	QAction pointMeshModeAction("Set point+mesh mode", this);
	pointModeAction.setData(QVariant(CLOUDVIEWER_MODE_POINT));
	meshModeAction.setData(QVariant(CLOUDVIEWER_MODE_MESH));
	pointMeshModeAction.setData(QVariant(CLOUDVIEWER_MODE_POINT_MESH));

	pointModeAction.setCheckable(true);
	meshModeAction.setCheckable(true);
	pointMeshModeAction.setCheckable(true);

	if (myCloud.curMode == "point") {
		pointModeAction.setChecked(true);
	}
	else if (myCloud.curMode == "mesh") {
		meshModeAction.setChecked(true);
	}
	else if (myCloud.curMode == "point+mesh") {
		pointMeshModeAction.setChecked(true);
	}
	
	connect(&hideItemAction, &QAction::triggered, this, &CloudViewer::hideItem);
	connect(&showItemAction, &QAction::triggered, this, &CloudViewer::showItem);
	connect(&deleteItemAction, &QAction::triggered, this, &CloudViewer::deleteItem);
	connect(&changeColorAction, &QAction::triggered, this, &CloudViewer::pointcolorChanged);

	connect(&pointModeAction, SIGNAL(triggered()), this, SLOT(setRenderingMode()));
	connect(&meshModeAction, SIGNAL(triggered()), this, SLOT(setRenderingMode()));
	connect(&pointMeshModeAction, SIGNAL(triggered()), this, SLOT(setRenderingMode()));

	QPoint pos;
	QMenu menu(ui.dataTree);
	menu.addAction(&hideItemAction);
	menu.addAction(&showItemAction);
	menu.addAction(&deleteItemAction);
	menu.addAction(&changeColorAction);
	
	menu.addAction(&pointModeAction);
	menu.addAction(&meshModeAction);
	menu.addAction(&pointMeshModeAction);

	if (mycloud_vec[id].visible == true){
		menu.actions()[1]->setVisible(false);
		menu.actions()[0]->setVisible(true);
	}
	else{
		menu.actions()[1]->setVisible(true);
		menu.actions()[0]->setVisible(false);
	}

	const vector<string> modes = myCloud.supportedModes;
	if (std::find(modes.begin(), modes.end(), "point") == modes.end()) {
		menu.actions()[4]->setVisible(false);
	}
	if (std::find(modes.begin(), modes.end(), "mesh") == modes.end()) {
		menu.actions()[5]->setVisible(false);
	}
	if (std::find(modes.begin(), modes.end(), "point+mesh") == modes.end()) {
		menu.actions()[6]->setVisible(false);
	}

	menu.exec(QCursor::pos()); //在当前鼠标位置显示
}
void CloudViewer::hideItem() {
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	for (int i = 0; i != ui.dataTree->selectedItems().size(); i++){
		//TODO hide之后，item变成灰色，再次右击item时，“hideItem” 选项变成 “showItem”
		//QTreeWidgetItem* curItem = ui.dataTree->currentItem();
		QTreeWidgetItem* curItem = itemList[i];
		QString name = curItem->text(0);
		int id = ui.dataTree->indexOfTopLevelItem(curItem);
		mycloud_vec[id].hide();
		//QMessageBox::information(this, "cloud_id", QString::fromLocal8Bit(cloud_id.c_str()));

		QColor item_color = QColor(112, 122, 132, 255);
		curItem->setTextColor(0, item_color);
		mycloud_vec[id].visible = false;
	}

	// 输出窗口
	consoleLog("Hide point clouds", "Point clouds selected", "", "");

	ui.screen->update(); //刷新视图窗口，不能省略
}

void CloudViewer::showItem() {
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	for (int i = 0; i != ui.dataTree->selectedItems().size(); i++){
		//QTreeWidgetItem* curItem = ui.dataTree->currentItem();
		QTreeWidgetItem* curItem = itemList[i];
		QString name = curItem->text(0);
		int id = ui.dataTree->indexOfTopLevelItem(curItem);
		// 将cloud_id所对应的点云设置成透明
		mycloud_vec[id].show();
		QColor item_color;
		if (theme_id == 0){
			item_color = QColor(0, 0, 0, 255);
		}
		else{
			item_color = QColor(241, 241, 241, 255);
		}
		curItem->setTextColor(0, item_color);
		mycloud_vec[id].visible = true;
	}

	// 输出窗口
	consoleLog("Show point clouds", "Point clouds selected", "", "");

	ui.screen->update(); //刷新视图窗口，不能省略

}

void CloudViewer::deleteItem() {
	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	// ui.dataTree->selectedItems().size() 随着迭代次数而改变，因此循环条件要设置为固定大小的 selected_item_count
	int selected_item_count = ui.dataTree->selectedItems().size();
	for (int i = 0; i != selected_item_count; i++){
		//QTreeWidgetItem* curItem = ui.dataTree->currentItem();
		//QMessageBox::information(this, "itemList's size", QString::number(ui.dataTree->selectedItems().size()));
		QTreeWidgetItem* curItem = itemList[i];
		QString name = curItem->text(0);
		int id = ui.dataTree->indexOfTopLevelItem(curItem);
		//QMessageBox::information(this, "information", "curItem: " + name + " " + QString::number(id));
		auto it = mycloud_vec.begin() + ui.dataTree->indexOfTopLevelItem(curItem);
		// 删除点云之前，将其点的数目保存
		int delete_points = (*it).cloud->points.size();
		it = mycloud_vec.erase(it);
		//QMessageBox::information(this, "information", QString::number(delete_points) + " " + QString::number(mycloud_vec.size()));

		total_points -= delete_points;
		setPropertyTable();

		ui.dataTree->takeTopLevelItem(ui.dataTree->indexOfTopLevelItem(curItem));
	}

	// 移除之后再添加，避免 id 和资源管理树行号不一致的情况
	viewer->removeAllPointClouds();
	for (int i = 0; i != mycloud_vec.size(); i++)
	{
		viewer->addPointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);
		viewer->updatePointCloud(mycloud_vec[i].cloud, mycloud_vec[i].cloudId);
	}

	// 输出窗口
	consoleLog("Delete point clouds", "Point clouds selected", "", "");

	ui.screen->update();

}

void CloudViewer::setRenderingMode() {
	QAction *action = qobject_cast<QAction *>(sender());
	QVariant v = action->data();
	int mode = (int)v.value<int>();
	string modeStr;

	switch (mode) {
		case CLOUDVIEWER_MODE_POINT: {
			modeStr = "point";
			consoleLog("Point Mode", "Point clouds selected", "", "");
			break;
		}
		case CLOUDVIEWER_MODE_MESH: {
			modeStr = "mesh";
			consoleLog("Mesh Mode", "Point clouds selected", "", "");
			break;
		}
		case CLOUDVIEWER_MODE_POINT_MESH: {
			modeStr = "point+mesh";
			consoleLog("Point+Mesh Mode", "Point clouds selected", "", "");
			break;
		}
	}

	QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
	for (int i = 0; i != ui.dataTree->selectedItems().size(); i++) {
		QTreeWidgetItem* curItem = itemList[i];
		QString name = curItem->text(0);
		int id = ui.dataTree->indexOfTopLevelItem(curItem);
		MyCloud& myCloud = mycloud_vec[id];
		myCloud.setShowMode(modeStr);
	}
	ui.screen->update();
}

int CloudViewer::convertSurface() {
	pcl::PointXYZ point;
	xyzCloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
	for (size_t i = 0; i < mycloud.cloud->size(); i++) {
		point.x = mycloud.cloud->points[i].x;
		point.y = mycloud.cloud->points[i].y;
		point.z = mycloud.cloud->points[i].z;
		xyzCloud->push_back(point);
	}
	if (!xyzCloud) {
		return -1;
	}

	pcl::PolygonMesh mesh = triangulationGreedyProjection(xyzCloud);
	viewer->addPolygonMesh(mesh, "mesh-greedy-projection");
	viewer->setRepresentationToSurfaceForAllActors();

	consoleLog("Convert surface", "", "", "");

	viewer->removeAllShapes();
	while (!viewer->wasStopped()) {
		viewer->spinOnce(100);
	}
	return 0;
}

int CloudViewer::convertWireframe() {
	pcl::PointXYZ point;
	xyzCloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
	for (size_t i = 0; i < mycloud.cloud->size(); i++) {
		point.x = mycloud.cloud->points[i].x;
		point.y = mycloud.cloud->points[i].y;
		point.z = mycloud.cloud->points[i].z;
		xyzCloud->push_back(point);
	}
	if (!xyzCloud) {
		return -1;
	}

	pcl::PolygonMesh mesh = triangulationGreedyProjection(xyzCloud);
	viewer->addPolygonMesh(mesh, "mesh-greedy-projection");
	viewer->setRepresentationToWireframeForAllActors();

	consoleLog("Convert wire frame", "", "", "");

	viewer->removeAllShapes();
	while (!viewer->wasStopped()) {
		viewer->spinOnce(100);
	}
	return 0;
}

void CloudViewer::debug(const string& s) {
	QMessageBox::information(this, tr("Debug"), QString::fromLocal8Bit(s.c_str()));
}
